WO2009143514A1 - Système monocanal de stabilité en roulis - Google Patents

Système monocanal de stabilité en roulis Download PDF

Info

Publication number
WO2009143514A1
WO2009143514A1 PCT/US2009/045152 US2009045152W WO2009143514A1 WO 2009143514 A1 WO2009143514 A1 WO 2009143514A1 US 2009045152 W US2009045152 W US 2009045152W WO 2009143514 A1 WO2009143514 A1 WO 2009143514A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
brake pressure
wheel speed
overturn
wheels
Prior art date
Application number
PCT/US2009/045152
Other languages
English (en)
Inventor
William P. Amato
Original Assignee
Bendix Commercial Vehicle Systems Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bendix Commercial Vehicle Systems Llc filed Critical Bendix Commercial Vehicle Systems Llc
Priority to MX2010012639A priority Critical patent/MX2010012639A/es
Priority to CA2725205A priority patent/CA2725205C/fr
Publication of WO2009143514A1 publication Critical patent/WO2009143514A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/241—Lateral vehicle inclination
    • B60T8/243—Lateral vehicle inclination for roll-over protection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover

Definitions

  • the present invention relates to vehicle roll control systems, and in particular to vehicle stability systems for detection and prevention of overturning of commercial vehicles, including commercial vehicle trailers.
  • Commercial vehicles including the trailers of tractor-trailer vehicles, are frequently loaded with high centers of gravity. During tight turns at highway speeds, these vehicles can roll over. Reducing the vehicle speed when high lateral accelerations are detected or when a wheel is lifted can reduce the tendency for such a vehicle to rollover and improve highway safety.
  • the risk of a vehicle overturning event may be estimated by monitoring transverse acceleration (i.e., acceleration lateral to the vehicle's longitudinal axis), and by monitoring vehicle wheel speed during the light application of braking force to the vehicle wheels, and assessing whether the wheels are off the ground or only lightly loaded in the normal direction depending on the resulting wheel speed change.
  • transverse acceleration i.e., acceleration lateral to the vehicle's longitudinal axis
  • vehicle wheel speed during the light application of braking force to the vehicle wheels
  • Roll estimation systems such as that described in U.S. Patent Publication No. US 20040119335 Al, are based on braking system architectures in which two independent pressure channels exist, with two separate brake application modulators. These systems are derived from two-channel modulator anti-lock braking system (“ABS”) architectures, which are common in Europe. The two independent channels permit the independent application of the brakes on each side of the vehicle during the wheel speed monitoring portion of the roll-over risk assessment, so that differential wheel speed change comparisons may be made.
  • ABS modulator anti-lock braking system
  • North American trailer ABS systems are predominantly based on a single pressure channel system, in which a single brake application modulator serves the vehicle wheels on both sides of at least one vehicle axle, i.e., a "single channel" system. This is in part due to the additional costs associated with providing two independent channels. In the absence of a second independent pressure channel, it has been commonly assumed that the known two-channel roll assessment and prevention systems could not be used with single-channel North American-type commercial vehicles.
  • the present invention provides a vehicle roll stability system architecture in which the roll stability function is performed with a single modulator controlling brake application on both left and right side wheels on one or more axles, thereby providing the benefits of the more complicated and more costly two-channel roll estimation systems in a simpler and lower cost system which is compatible with North American-type single channel commercial vehicle ABS systems.
  • This objective is met by providing a trailer roll stability system comprising a single-channel pressure modulator and wheel sensors (including single-channel architectures commonly known as "2s Im" (two sensors, one modulator) or “4slm” (four sensors, one modulator)), and an electronic control system.
  • the electronic control system evaluates vehicle speed, lateral acceleration and wheel speed change information, and controls brake pressure application during roll evaluation operation.
  • the electronic control system of the present invention controls the single brake pressure modulator to lightly apply the brakes simultaneously at all the wheels.
  • the vehicle weight is transferred to the outside wheels and the inside wheels may lift off of the ground if the center of gravity is high.
  • a brake intervention e.g., brake application by the vehicle operator or as a result of a brake system- commanded braking event
  • the two-channel system executes a "pressure test" mode, applying a small test pressure only to the brakes on the side of the vehicle inside the turn (i.e., using only the pressure modulator in the channel which controls the inside wheel brakes). If the small pressure applied in the one channel causes the inside wheels to lock, it may be assumed that the inside wheels are off of the ground or only very lightly loaded.
  • test pressure may be simultaneously applied to both the inside and outside wheels without significant detriment. Testing confirmed that in a vehicle such as a trailer equipped with a single brake pressure modulator controlling all the vehicle brakes, the test pressure application could be used to reliably determine whether the inside wheels were off of the ground or very lightly loaded, as the test pressure is too small to significantly affect the rotation of the outside wheels which were heavily loaded.
  • the electronic control unit momentarily slightly reduces the applied brake pressure while monitoring the wheel speed of the inside wheels. If the inside wheel speeds remain at zero, it can be assumed that the wheels are off the ground. Alternatively, if the inside wheel speeds substantially increase, it can be assumed that the inside wheels are only lightly loaded as they were locked or nearly locked before the brake pressure was reduced. As a further alternative, if after the test pressure is removed (i.e., the brake pressure is restored to its pre-test value), the inside wheel speeds substantially decrease or decrease faster than the outer wheel speeds, it also can be assumed that the inside wheels are only lightly loaded as they were locked or nearly locked before the brake pressure was reduced.
  • a slight test pressure may be applied by the single channel system to all of the wheels while monitoring the wheel speed of the inside wheels. If the wheel speed substantially decreases or decreases faster than the outer wheel speeds, it can be assumed that the wheels are off the ground or only lightly loaded. Alternatively, if after the test pressure is removed (i.e., the brake pressure is restored to its pre-test value of zero pressure), if the inside wheel speeds substantially increase or increase faster than the outer wheel speeds, it also can be assumed that the inside wheels are only lightly loaded but not off the ground as they were locked or nearly locked when the test brake pressure was applied.
  • Figure 1 is a schematic illustration of a single channel roll stability system in accordance with an embodiment of the present invention.
  • Figure 2 is a schematic illustration of a single channel roll stability system in accordance with another embodiment of the present invention.
  • Figure 3 is a schematic illustration of a single channel roll stability system in accordance with a further embodiment of the present invention. [O021] with a single channel roll stability system in accordance with an embodiment of the present invention.
  • FIG. 1 schematically illustrates an example embodiment of single channel roll stability system.
  • all the primary components including solenoids, pressure sensors, and an accelerometer are packaged into a single module 10.
  • the module includes an electronic control unit 12 ("ECU").
  • the ECU 12 houses a lateral acceleration sensor 14, whose output is monitored by ECU 12.
  • the module 10 also includes a brake pressure modulator relay valve 16, which controls the flow of control air through air supply connection 18 and air exhaust connection 20 to and from the vehicle's individual brake actuators 22.
  • the pressure in the lines from the modulator 16 to the brake actuators is monitored by a delivery pressure sensor 24, shown in this embodiment located inside module 10.
  • modulator relay valve 16 Operation of modulator relay valve 16 is controlled in a conventional manner by supply solenoid 26, exhaust solenoid 28, and hold solenoid 30 (solenoid 30 controlling flow through brake demand line 32, which is monitored by brake demand pressure sensor 34).
  • supply solenoid 26, exhaust solenoid 28, and hold solenoid 30 solenoid 30 controlling flow through brake demand line 32, which is monitored by brake demand pressure sensor 34.
  • Each of the solenoids 26, 28 and 30 connect their respective supply, exhaust and brake demand lines to the control portion 36 of pressure modulator 16 in order to command the positioning of modulator 16 to apply or relieve pressure in the lines to the brake actuators 22.
  • the module 10 further includes an air suspension pressure sensor 38, which detects the air pressure within the vehicle's suspension system, from which the load 40 carried by the suspension may be determined.
  • the pressure sensor 38 alternatively may be located outside the module 10.
  • the single-channel roll control system functions in a manner similar to existing two-channel systems, except that all brake application actions are performed on all brakes simultaneously through modulator 16. Accordingly, when a lateral acceleration is detected, rather than applying a small test pressure only to the inside wheels to assess whether the inside wheels are off the ground or only lightly loaded, in this single channel embodiment, all four brake actuators 22 are affected by the ECU's operation, via the appropriate solenoid, of modulator 16.
  • ECU 12 when ECU 12 is controlling an anti-overturning intervention event, i.e., applying the brakes to attempt to prevent an incipient vehicle roll-over, rather than the two-channel system's application of the brakes only on the most-heavily loaded outside wheels (thereby avoiding lock-up of the inside wheels), ECU 12's operation of modulator 16 results in brake application of all the vehicle brakes, without regard as to whether the inside wheels have, or will, lock.
  • the particular packaging of the components in the inventive system is not important, but rather that the design includes only one pressure modulator relay valve.
  • the air suspension pressure sensor 38 may be remotely connected, with wiring connecting the sensor to the module.
  • the delivery pressure sensor 24 and/or the lateral acceleration sensor 14 may be remotely located and connected by wiring.
  • a further alternative includes replacement of the suspension pressure detection by deflection or load measurement, or elimination of direct measurement altogether if an estimate of load is provided in the ECU programming. Regardless of the specific arrangement of the components, which may be varied as needed to suit the vehicle application embodiment, a single brake pressure modulator simultaneously controls actuation of the vehicle's brakes.
  • FIG. 2 illustrates an alternative embodiment of the present single channel roll control system, in which two modules are provided.
  • the use of multiple modules permits individual modules to be located at different places on the vehicle to optimize the installation.
  • one module 21 contains the supply solenoid 26 previously located within module 10 in Fig. 1 ⁇ e.g., a solenoid like a traction control solenoid), along with a double check valve 40 which ensures the appropriate flow in the supply and brake demand lines is maintained.
  • the other module 11 otherwise substantially corresponds to module 10 in Fig. 1, less the supply solenoid 26.
  • This module 11 is much like the Model No. TABS6 premium module, available from Bendix Commercial Vehicle Systems, LLC of Elyria, Ohio.
  • this embodiment also relies on a single pressure modulator 16 simultaneously controlling flow to/from the brake actuators 22.
  • two so-called "3-by-2" solenoids valves may be used to simplify the design of the module, albeit while requiring more complicated solenoid valves.
  • a 3-by-2 supply solenoid 26 and a 3-by-2 control solenoid 42.
  • the 3-by-2 supply solenoid in this embodiment can switch between the supply air 18 or the control air 32.
  • the solenoid is connected to the control air by default here.
  • the control solenoid 42 can switch between exhaust and either the supply or control air, as determined by the switching state of supply solenoid 26.
  • a special control mode of the control solenoid may be used to smoothly apply pressure and produced hold states when required. As in the other embodiments, this variation maintains the single-channel modulator control of brake actuation.
  • Fig. 4 illustrates an example logic for operation of an embodiment of the present single-channel roll stability system.
  • the system monitors trailer lateral acceleration at step 110.
  • a determination is made as to whether the lateral acceleration is approaching a pre-determined limit. If the pre-determined lateral acceleration limit has not been approached, control is returned to step 110 for further lateral acceleration monitoring. If it is determined that the pre-determined lateral acceleration level is being approached, a determination is made at step 130 whether the lateral acceleration gradient is above a pre-determined threshold. If the lateral acceleration gradient is above the predetermined threshold, at step 140 a determination is made as to whether the driver is applying the vehicle's service brakes.
  • step 150 If the driver is not applying the service brakes, it is determined that a roll stability event is occurring and at step 150 the braking system applies automatic strong trailer service brakes to all wheels, and shifts control back to the beginning of the routine "A" at step 100. If, on the other hand, it is determined at step 140 that the driver is applying the vehicle's service brakes, then at step 170 it is determined whether the driver's brake demand is greater than the brake system's brake demand for the test pulse. If the driver's brake demand is higher, then the brake system defers to the driver, allowing at step 180 for the service brakes to be applied at the level of the driver's brake demand. Conversely, if the driver's brake demand is not greater than the brake system's demand, then a roll stability event is determined to be occurring and the application of strong brakes at step 150 is_initiated.
  • the brake system calculates a desired test pulse, and at step 200 it is determined whether the driver is presently applying the vehicle's service brakes. If the driver is applying the service brakes, at step 210 it is determined whether the driver's brake demand is greater than the desired test pulse calculated in step 190. If the driver's demand is greater than the test pulse, the brake system at step 220 permits the brakes to be applied in accordance with the driver's brake demand. If, on the other hand, the driver's brake demand is determined in step 210 to not be greater than the desired test pulse, then at step 230 the brake system applies a test pulse to the service brakes.
  • the test pulse applied in step 230 may be a pressure increase or a pressure decrease, depending on the state of braking, i.e., if the brakes are not being applied, a positive pressure is applied to the brakes, whereas if the brakes are already being applied, the brake pressure is slightly decreased to generate the test pulse.
  • step 250 the brake system "learns" the handling characteristics of the trailer, for example, by storage of braking event data for further use in roll stability determinations.
  • step 260 the brake system releases the service brake pressure applied by the test pulse (i.e., restores the brake pressure by either releasing an applied pressure or returning the reduced pressure back to the previous applied pressure), an assessment is made at step 270 whether, on restoration of the brake pressure the inside wheels recover.
  • the inside wheels are judged to not have recovered if: (i) starting from the state where the brakes were applied, the wheel speed of the inside wheels decrease at a greater rate than the wheels on an outside side of the vehicle; or (ii) starting from the state where the brakes were not applied, the wheel speed of the inside wheels increase at a greater rate than the wheels on an outside side of the vehicle. If the wheels are determined in step 270 to not have recovered following restoration of pressure after removal of the test pulse, then control is shifted to step 150 and automatic strong service brake application is initiated. Otherwise, if the wheels are determined in step 270 to have recovered, system control is returned to step 100 to restart the control routine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé et un système destinés à évaluer et à empêcher le capotage d’un véhicule, le procédé et le système convenant tout particulièrement à une utilisation dans des véhicules commerciaux dotés de systèmes de freinage généralement utilisés en Amérique du Nord. Un véhicule équipé d’un modulateur unique de pression de freinage est commandé de façon à augmenter ou à diminuer la pression de freinage, en fonction de l’état de freinage, afin de tester la réponse en termes de vitesse des roues du véhicule. Si ladite réponse indique que les roues du véhicule côté intérieur ont quitté le sol ou ne sont que légèrement chargées, on peut supposer que le véhicule approche de l'état de capotage. Une intervention de freinage peut alors être exécutée par le modulateur unique de pression de freinage pour empêcher le phénomène de capotage imminent.
PCT/US2009/045152 2008-05-23 2009-05-26 Système monocanal de stabilité en roulis WO2009143514A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
MX2010012639A MX2010012639A (es) 2008-05-23 2009-05-26 Sistema de estabilidad contra volcaduras de un solo canal.
CA2725205A CA2725205C (fr) 2008-05-23 2009-05-26 Systeme monocanal de stabilite en roulis

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/126,170 2008-05-23
US12/126,170 US8359146B2 (en) 2005-12-15 2008-05-23 Single channel roll stability system

Publications (1)

Publication Number Publication Date
WO2009143514A1 true WO2009143514A1 (fr) 2009-11-26

Family

ID=41340588

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2009/045152 WO2009143514A1 (fr) 2008-05-23 2009-05-26 Système monocanal de stabilité en roulis

Country Status (4)

Country Link
US (1) US8359146B2 (fr)
CA (1) CA2725205C (fr)
MX (1) MX2010012639A (fr)
WO (1) WO2009143514A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8359146B2 (en) * 2005-12-15 2013-01-22 Bendix Commercial Vehicle Systems Llc Single channel roll stability system
DE102008002196A1 (de) * 2008-06-04 2009-12-10 Robert Bosch Gmbh Verfahren zur Funktionsüberprüfung eines Bauteils in einem Fahrzeug
DE102010039181B4 (de) * 2010-08-11 2022-06-15 Robert Bosch Gmbh Verfahren zum Erkennen des Kupplungszustandes
GB2499438B (en) * 2012-02-17 2018-10-17 Haldex Brake Prod Ab Method of vehicle stability control
US9278677B2 (en) 2013-08-14 2016-03-08 Bendix Commercial Vehicle Systems Llc System and method for controlling respective braking pressures at wheels on a vehicle
WO2015153811A1 (fr) * 2014-04-02 2015-10-08 Levant Power Corporation Système de suspension de sécurité active
SE1450601A1 (sv) * 2014-05-21 2015-11-22 Scania Cv Ab Förfarande och system för anpassning av ett fordons framförande på en vägbana i samband med kurvkörning
US9346440B2 (en) 2014-08-14 2016-05-24 Bendix Commercial Vehicle Systems Llc System and method for controlling braking pressures at wheels on a vehicle
GB2536949B (en) * 2015-04-02 2021-05-12 Knorr Bremse Systeme Fuer Nutzfahrzeuge Gmbh Trailer brake system
DE102015013761A1 (de) * 2015-10-23 2017-04-27 Wabco Gmbh Verfahren zur Ansteuerung von Bremsen
US10787213B1 (en) 2018-06-29 2020-09-29 Bendix Commercial Vehicle Systems Llc Apparatus for supporting a component mounting plate between trailer beams
GB2600753A (en) * 2020-11-09 2022-05-11 Haldex Brake Prod Ab A braking system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6756890B1 (en) * 1997-11-22 2004-06-29 Robert Bosch Gmbh Method and apparatus for stabilizing a vehicle in the presence of a tilt tendency
US20040183372A1 (en) * 2003-03-18 2004-09-23 Bernd Heuer Method and system for preventing rollover of a vehicle train
US20070138865A1 (en) * 2005-12-15 2007-06-21 Bendix Commercial Vehicle Systems, Llc Single channel roll stability system

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3668629A (en) * 1969-02-25 1972-06-06 Walter S Pawl Vehicle anti-skid and anti-spin signal and control device
FR2706542B1 (fr) * 1993-06-18 1995-09-29 Safet Embamet Enceinte pour liquide sous pression, ensemble d'approvisionnement en liquide sous pression et procédé de purge d'un circuit hydraulique de frein.
DE19602879C1 (de) * 1996-01-29 1997-08-07 Knorr Bremse Systeme Verfahren zum Erfassen der Gefahr des Umkippens eines Fahrzeuges
US5825284A (en) * 1996-12-10 1998-10-20 Rollover Operations, Llc System and method for the detection of vehicle rollover conditions
WO1999030941A1 (fr) * 1997-12-16 1999-06-24 Continental Teves Ag & Co. Ohg Procede et dispositif pour limiter l'acceleration transversale d'un vehicule en marche
DE19802041A1 (de) * 1998-01-21 1999-07-22 Bosch Gmbh Robert Verfahren und Vorrichtung zur Stabilisierung eines Fahrzeuges im Sinne einer Umkippvermeidung
EP1077850B1 (fr) * 1998-05-12 2002-10-23 Continental Teves AG & Co. oHG Dispositif de stabilisation de vehicule et procede pour la modification des pressions de freinage
US6278930B1 (en) * 1999-06-01 2001-08-21 Toyota Jidosha Kabushiki Kaisha Device for controlling spin/driftout of vehicle compatibly with roll control
US6304805B1 (en) * 1999-07-21 2001-10-16 Denso Corporation Vehicle behavior estimating and controlling method and system as well as body slip angle estimating method and system
US6834218B2 (en) 2001-11-05 2004-12-21 Ford Global Technologies, Llc Roll over stability control for an automotive vehicle
DE10112315B4 (de) 2000-03-17 2004-10-14 Honda Giken Kogyo K.K. Verfahren zur Bestimmung eines Seitenüberschlags eines Fahrzeugs und Insassenschutzsystem in einem Fahrzeug
DE10017045A1 (de) * 2000-04-05 2001-10-11 Wabco Gmbh & Co Ohg Verfahren zur Vermeidung des Umkippens eines Fahrzeuges um seine Längsachse
DE10046036A1 (de) 2000-09-18 2002-03-28 Knorr Bremse Systeme Verfahren zum Abschätzen der Umkippgefahr eines Fahrzeugs
US6356188B1 (en) 2000-09-25 2002-03-12 Ford Global Technologies, Inc. Wheel lift identification for an automotive vehicle
US7132937B2 (en) * 2000-09-25 2006-11-07 Ford Global Technologies, Llc Wheel lift identification for an automotive vehicle using passive and active detection
US7107136B2 (en) * 2001-08-29 2006-09-12 Delphi Technologies, Inc. Vehicle rollover detection and mitigation using rollover index
US7435705B2 (en) * 2002-04-08 2008-10-14 Jodi Haenke Environmentally safe anti-fungal composition and methods of using same
US6684140B2 (en) * 2002-06-19 2004-01-27 Ford Global Technologies, Llc System for sensing vehicle global and relative attitudes using suspension height sensors
US7302331B2 (en) * 2002-08-01 2007-11-27 Ford Global Technologies, Inc. Wheel lift identification for an automotive vehicle
US7079928B2 (en) * 2002-08-01 2006-07-18 Ford Global Technologies, Llc System and method for determining a wheel departure angle for a rollover control system with respect to road roll rate and loading misalignment
US7020551B2 (en) 2003-12-23 2006-03-28 Bendix Commercial Vehicle Systems Llc Roll stability control system
DE102004010233B4 (de) 2004-03-03 2021-09-16 Zf Cv Systems Hannover Gmbh Verfahren zur Abbremsung eines Fahrzeuges
US8359146B2 (en) * 2005-12-15 2013-01-22 Bendix Commercial Vehicle Systems Llc Single channel roll stability system
ATE527152T1 (de) * 2007-11-30 2011-10-15 Bombardier Recreational Prod Elektronisches stabilitätssystem für dreiradfahrzeug und steuerstrategie dafür
JP5418022B2 (ja) * 2009-06-30 2014-02-19 株式会社アドヴィックス 車両運動制御装置
JP5471078B2 (ja) * 2009-06-30 2014-04-16 株式会社アドヴィックス 車両運動制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6756890B1 (en) * 1997-11-22 2004-06-29 Robert Bosch Gmbh Method and apparatus for stabilizing a vehicle in the presence of a tilt tendency
US20040183372A1 (en) * 2003-03-18 2004-09-23 Bernd Heuer Method and system for preventing rollover of a vehicle train
US20070138865A1 (en) * 2005-12-15 2007-06-21 Bendix Commercial Vehicle Systems, Llc Single channel roll stability system

Also Published As

Publication number Publication date
CA2725205A1 (fr) 2009-11-26
US8359146B2 (en) 2013-01-22
US20080288148A1 (en) 2008-11-20
CA2725205C (fr) 2016-04-26
MX2010012639A (es) 2010-12-21

Similar Documents

Publication Publication Date Title
US8359146B2 (en) Single channel roll stability system
US8191975B2 (en) Single channel roll stability system
US7809486B2 (en) Pressure boost for vehicle rear brake circuits
CN109789859B (zh) 用于使汽车列车减速的方法和汽车列车的车辆的气动制动设备的组合系统
US8500216B2 (en) Vehicle parking brake and operating method
US10029660B2 (en) Method for controlling a brake device in a traction vehicle-trailer combination and brake device controlled according to said method
US7413266B2 (en) Method for controlling the brake system of a vehicle train
JP4152882B2 (ja) 実用車トレーラーのためのブレーキ装置
CA2938609C (fr) Verrouillage mutuel de frein de stationnement pour essieu a soulevement automatique
US20100252378A1 (en) Control Device for a Brake System of a Utility Vehicle and Method for Controlling a Brake System
US10889274B2 (en) Method and device for electronic control of a vehicle deceleration of a brake slip-controlled vehicle
JP2007131301A (ja) 横転傾向にある車両を安定化させる方法
CN101088816B (zh) 一种机动车制动力实时分配装置和分配方法
US10343658B2 (en) Multi-trailer vehicle ABS status evaluation
CN110023159B (zh) 用于商用车的制动设备的空气处理单元和空气处理单元的运行方法
US7284802B2 (en) Stabilizing device for motor vehicles comprising compressed-air braking systems
US20130080014A1 (en) Method for operating a brake-slip regulating means of a brake system of a vehicle
JP3989201B2 (ja) 連結車両の制動装置
US20080040012A1 (en) Method for Supporting a Brake System in Case of Reduced Effectiveness of the Vehicle Brake System
CN114475550A (zh) 用于机动车辆的电动气动制动系统及机动车辆
EP3789255B1 (fr) Système de frein pour véhicule commercial
US20240059264A1 (en) Method for operating a control system of a vehicle with a steering brake function and traction control system
CN117794797A (zh) 用于运行车辆组合的方法
JPH0958446A (ja) トレーラブレーキ制御方法およびこの制御方法に用いられるカップリングフォース推定方法
JPH0958447A (ja) トラクタの後軸荷重推定方法およびこの推定方法を用いたトレーラブレーキ制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09751742

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: MX/A/2010/012639

Country of ref document: MX

WWE Wipo information: entry into national phase

Ref document number: 2725205

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09751742

Country of ref document: EP

Kind code of ref document: A1